Duplicate empty _node check removed from Subscription.hpp (#23316) (#23317)

* Duplicate empty `_node` check removed from Subscription.hpp (#23316) * newline * move uORB gtests to uORB/test --------- Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com> Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
2026-10-15 12:13:34 +08:00 · 2025-03-07 01:53:30 -09:00
parent c83fd11924
commit 5be867da1c
5 changed files with 164 additions and 20 deletions
@@ -0,0 +1,114 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019-2024 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * Test for Subscription
+ */
+
+#include <gtest/gtest.h>
+#include <uORB/Subscription.hpp>
+#include <uORB/uORB.h>
+#include <uORB/topics/orb_test.h>
+
+namespace uORB
+{
+namespace test
+{
+
+
+class uORBSubscriptionTestable  : public  uORB::Subscription
+{
+public:
+	uORBSubscriptionTestable() : Subscription(ORB_ID(orb_test), 0)
+	{
+	}
+
+	void setNodeValue(void *node)
+	{
+		_node = node;
+
+	}
+	void *getNodeValue()
+	{
+		return _node;
+	}
+
+};
+
+
+class uORBSubscriptionTest : public ::testing::Test
+{
+protected:
+	uORBSubscriptionTestable  testable;
+
+	static void SetUpTestSuite()
+	{
+		uORB::Manager::initialize();
+
+		orb_test_s message{};
+		orb_advertise(ORB_ID(orb_test), &message);
+
+	}
+	static void TearDownTestSuite()
+	{
+		uORB::Manager::terminate();
+	}
+
+	void TearDown() override
+	{
+		testable.setNodeValue(nullptr);
+	}
+
+
+};
+
+TEST_F(uORBSubscriptionTest, updateWhenSubscribedThenNotSubscribedTwice)
+{
+	int anyValue = 1;
+	testable.setNodeValue(&anyValue);
+
+	testable.updated();
+
+	ASSERT_EQ(testable.getNodeValue(), &anyValue) << "Original node value don't have to be overrwiten";
+}
+
+TEST_F(uORBSubscriptionTest, updateWhenNotSubscribedThenSubscribed)
+{
+	testable.setNodeValue(nullptr);
+
+	testable.updated();
+
+	ASSERT_NE(testable.getNodeValue(), nullptr) << "Node value after 'updated' have to be initialized";
+}
+}
+}